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<div class="title">point_cloud.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_CUDA_POINT_CLOUD_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_CUDA_POINT_CLOUD_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/point_types.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/thrust.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_covariance_matrix.html">   50</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_covariance_matrix.html">CovarianceMatrix</a></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      float3 data[3];</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    };</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_open_n_i_r_g_b.html">   56</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_open_n_i_r_g_b.html">OpenNIRGB</a></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r, g, b;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    };</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_host.html">   65</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_host.html">Host</a></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="comment">// vector type</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> thrust::host_vector&lt;T&gt; type;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">//      // iterator type</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">//      typedef thrust::detail::normal_iterator&lt;T*&gt; type;</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">//      // pointer type</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">//      typedef T* pointer_type;</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">//      // allocator</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">//      static T* alloc (int size)</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//        return (T*) malloc (size);</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//      // cast to different pointer</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">//      template &lt;typename U&gt;</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">//      static U* cast (type ptr)</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">//        return (U*)ptr;</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    };</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_device.html">   94</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_device.html">Device</a></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    {</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="comment">// vector type</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> thrust::device_vector&lt;T&gt; type;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">//      // iterator type</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">//      typedef thrust::detail::normal_iterator&lt;thrust::device_ptr&lt;T&gt; &gt; iterator_type;</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">//      // pointer type</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">//      typedef thrust::device_ptr&lt;T&gt; pointer_type;</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">//      // allocator</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">//      static thrust::device_ptr&lt;T&gt; alloc (int size)</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment">//        return thrust::device_malloc&lt;T&gt; (size);</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">//      </span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">//      // cast to different pointer</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">//      template &lt;typename U&gt;</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">//      static thrust::device_ptr&lt;U&gt; cast (type ptr)</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">//        return thrust::device_ptr&lt;U&gt; ((U*)ptr.get());</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">//      // cast raw pointer to different pointer</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">//      template &lt;typename U&gt;</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">//      static thrust::device_ptr&lt;U&gt; cast (T* ptr)</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">//      {</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">//        return thrust::device_ptr&lt;U&gt; ((U*)ptr);</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">//      }</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    };</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">  133</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS</a></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS</a> () : <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">is_dense</a> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        {}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS</a>&amp; operator = (<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS</a>&amp; rhs)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        {</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>   = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a>    = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a>   = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">is_dense</a> = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">is_dense</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> OtherStorage&gt;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">PointCloudAOS</a>&amp; operator &lt;&lt; (<span class="keyword">const</span> OtherStorage&amp; rhs)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>   = rhs.points;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;          <span class="comment">// TODO: Test speed on operator () = vs resize+copy</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="comment">//points.resize (rhs.points.size ());</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="comment">//thrust::copy (rhs.points.begin (), rhs.points.end (), points.begin ());</span></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a>    = rhs.width;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a>   = rhs.height;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">is_dense</a> = rhs.is_dense;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">inline</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        at (<span class="keywordtype">int</span> u, <span class="keywordtype">int</span> v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordflow">if</span> (this-&gt;<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a> &gt; 1)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>[v * this-&gt;<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a> + u]);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a> (std::numeric_limits&lt;float&gt;::quiet_NaN (),</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                                 std::numeric_limits&lt;float&gt;::quiet_NaN (),</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                                 std::numeric_limits&lt;float&gt;::quiet_NaN (),</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                                 0));</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            <span class="comment">// throw IsNotDenseException (&quot;Can&#39;t use 2D indexing with a sparse point cloud&quot;);</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        }</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">inline</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a>&amp; operator () (<span class="keywordtype">int</span> u, <span class="keywordtype">int</span> v)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>[v* this-&gt;<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a> +u]);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        }</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a>&amp; operator () (<span class="keywordtype">int</span> u, <span class="keywordtype">int</span> v)<span class="keyword"> const</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>[v* this-&gt;<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a> +u]);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="comment">//typename Storage&lt;float3&gt;::type points;</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">  189</a></span>&#160;        <span class="keyword">typename</span> Storage&lt;PointXYZRGB&gt;::type <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">points</a>;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;PointXYZRGB&gt;::type::iterator iterator;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">  194</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">width</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">  196</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">height</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  </div>
<div class="line"><a name="l00199"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">  199</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">is_dense</a>;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloudAOS&lt;Storage&gt; &gt; Ptr;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloudAOS&lt;Storage&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    };</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">  209</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">PointCloudSOA</a></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">PointCloudSOA</a> () : <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">width</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">height</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">is_dense</a> (<span class="keyword">true</span>)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        {}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">PointCloudSOA</a>&amp; operator = (<span class="keyword">const</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">PointCloudSOA</a>&amp; rhs)</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        {</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a> = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          points_y = rhs.points_y;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          points_z = rhs.points_z;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">width</a>    = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">width</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">height</a>   = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">height</a>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">is_dense</a> = rhs.<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">is_dense</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keyword">template</span> &lt;<span class="keyword">typename</span> OtherStorage&gt;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">PointCloudSOA</a>&amp; operator &lt;&lt; (<span class="keyword">const</span> OtherStorage&amp; rhs)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a> = rhs.points_x;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          points_y = rhs.points_y;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;          points_z = rhs.points_z;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">width</a>    = rhs.width;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">height</a>   = rhs.height;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">is_dense</a> = rhs.is_dense;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;          <span class="keywordflow">return</span> (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a05cc53749a16b275ed1f912b80614aa0">  244</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a05cc53749a16b275ed1f912b80614aa0">resize</a> (<span class="keywordtype">size_t</span> newsize)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          assert (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a46f4262dfaf5083f9698a30d440136d2">sane</a> ());</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.resize (newsize);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;          points_y.resize (newsize);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          points_z.resize (newsize);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        std::size_t </div>
<div class="line"><a name="l00254"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#af0327b60e9166319365116d757b657a8">  254</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#af0327b60e9166319365116d757b657a8">size</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;          assert (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a46f4262dfaf5083f9698a30d440136d2">sane</a> ());</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.size ());</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00262"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a46f4262dfaf5083f9698a30d440136d2">  262</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a46f4262dfaf5083f9698a30d440136d2">sane</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.size () == points_y.size () &amp;&amp;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                  <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.size () == points_z.size ());</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  </div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">  269</a></span>&#160;        <span class="keyword">typename</span> Storage&lt;float&gt;::type <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keyword">typename</span> Storage&lt;float&gt;::type points_y;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <span class="keyword">typename</span> Storage&lt;float&gt;::type points_z;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keyword">typename</span> Storage&lt;int&gt;::type rgb;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  </div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">  275</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">width</a>;</div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">  277</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">height</a>;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  </div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">  280</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">is_dense</a>;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloudSOA&lt;Storage&gt; &gt; Ptr;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloudSOA&lt;Storage&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        <span class="comment">// Extras. Testing ZIP iterators</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;        <span class="keyword">typedef</span> thrust::tuple&lt;float, float, float&gt; tuple_type;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;float&gt;::type::iterator float_iterator;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keyword">typedef</span> thrust::tuple&lt;float_iterator, float_iterator, float_iterator&gt; iterator_tuple; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="keyword">typedef</span> thrust::zip_iterator&lt;iterator_tuple&gt; zip_iterator;</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        zip_iterator </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        zip_begin ()</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;          <span class="keywordflow">return</span> (thrust::make_zip_iterator (thrust::make_tuple (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.begin (), </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                                                 points_y.begin (), </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                                                                 points_z.begin ())));</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        }</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        zip_iterator</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        zip_end ()</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">return</span> (thrust::make_zip_iterator (thrust::make_tuple (<a class="code" href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">points_x</a>.end (), </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;                                                                 points_y.end (), </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                                                                 points_z.end ())));</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;        }</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    };</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage, <span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_point_iterator.html">  310</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_point_iterator.html">PointIterator</a></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keyword">typedef</span> <span class="keywordtype">void</span> type;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    };</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_point_iterator_3_01_device_00_01_t_01_4.html">  316</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_point_iterator.html">PointIterator</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_device.html">Device</a>,T&gt;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      <span class="keyword">typedef</span> thrust::detail::normal_iterator&lt;thrust::device_ptr&lt;T&gt; &gt; type;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    };</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_point_iterator_3_01_host_00_01_t_01_4.html">  322</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_point_iterator.html">PointIterator</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_host.html">Host</a>,T&gt;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keyword">typedef</span> thrust::detail::normal_iterator&lt;T*&gt; type;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    };</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage, <span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00328"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_pointer.html">  328</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_pointer.html">StoragePointer</a></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      <span class="comment">// typedef void* type;</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    };</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_pointer_3_01_device_00_01_t_01_4.html">  334</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_pointer.html">StoragePointer</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_device.html">Device</a>,T&gt;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      <span class="keyword">typedef</span> thrust::device_ptr&lt;T&gt; type;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> U&gt;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keyword">static</span> thrust::device_ptr&lt;U&gt; cast (type ptr)</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordflow">return</span> thrust::device_ptr&lt;U&gt; ((U*)ptr.get());</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> U&gt;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="keyword">static</span> thrust::device_ptr&lt;U&gt; cast (T* ptr)</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keywordflow">return</span> thrust::device_ptr&lt;U&gt; ((U*)ptr);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;    };</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00350"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_pointer_3_01_host_00_01_t_01_4.html">  350</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_pointer.html">StoragePointer</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_host.html">Host</a>,T&gt;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keyword">typedef</span> T* type;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> U&gt;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      <span class="keyword">static</span> U* cast (type ptr)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordflow">return</span> (U*)ptr;</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      }</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;    };</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage, <span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00360"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_allocator.html">  360</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_allocator.html">StorageAllocator</a></div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    };</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_allocator_3_01_device_00_01_t_01_4.html">  365</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_allocator.html">StorageAllocator</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_device.html">Device</a>,T&gt;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;      <span class="keyword">static</span> thrust::device_ptr&lt;T&gt; alloc (<span class="keywordtype">int</span> size)</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      {</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        <span class="keywordflow">return</span> thrust::device_malloc&lt;T&gt; (size);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    };</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
<div class="line"><a name="l00374"></a><span class="lineno"><a class="line" href="structpcl_1_1cuda_1_1_storage_allocator_3_01_host_00_01_t_01_4.html">  374</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1cuda_1_1_storage_allocator.html">StorageAllocator</a>&lt;<a class="code" href="structpcl_1_1cuda_1_1_host.html">Host</a>,T&gt;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;    {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keyword">static</span> T* alloc (<span class="keywordtype">int</span> size)</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">return</span> (T*) malloc (size);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    };</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_CUDA_POINT_CLOUD_H_</span></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html">pcl::cuda::PointCloudAOS</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html_a609a44a987214063d13c2b6a38bd3517"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a609a44a987214063d13c2b6a38bd3517">pcl::cuda::PointCloudAOS::height</a></div><div class="ttdeci">unsigned int height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html_a68badcc1669c402f73e1fb92ea399215"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a68badcc1669c402f73e1fb92ea399215">pcl::cuda::PointCloudAOS::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:199</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html_a6fc538aff137ff1b22c807fe650dd399"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#a6fc538aff137ff1b22c807fe650dd399">pcl::cuda::PointCloudAOS::width</a></div><div class="ttdeci">unsigned int width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_a_o_s_html_ae9231f90f329450168cf97c52214be1c"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_a_o_s.html#ae9231f90f329450168cf97c52214be1c">pcl::cuda::PointCloudAOS::points</a></div><div class="ttdeci">Storage&lt; PointXYZRGB &gt;::type points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:189</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html">pcl::cuda::PointCloudSOA</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:210</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_a05cc53749a16b275ed1f912b80614aa0"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a05cc53749a16b275ed1f912b80614aa0">pcl::cuda::PointCloudSOA::resize</a></div><div class="ttdeci">void resize(size_t newsize)</div><div class="ttdoc">Resize the internal point data vectors.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:244</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_a066e92f505fcc745610c9ee6d272945e"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a066e92f505fcc745610c9ee6d272945e">pcl::cuda::PointCloudSOA::height</a></div><div class="ttdeci">unsigned int height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:277</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_a334b4febe4fd9e79dc9f143cde708210"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a334b4febe4fd9e79dc9f143cde708210">pcl::cuda::PointCloudSOA::width</a></div><div class="ttdeci">unsigned int width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_a46f4262dfaf5083f9698a30d440136d2"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#a46f4262dfaf5083f9698a30d440136d2">pcl::cuda::PointCloudSOA::sane</a></div><div class="ttdeci">bool sane() const</div><div class="ttdoc">Check if the internal pooint data vectors are valid.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:262</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_aa794bf5b704d5693ed3f84c00feebe3f"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#aa794bf5b704d5693ed3f84c00feebe3f">pcl::cuda::PointCloudSOA::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:280</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_ad70a569db2923c084073edc96c107546"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#ad70a569db2923c084073edc96c107546">pcl::cuda::PointCloudSOA::points_x</a></div><div class="ttdeci">Storage&lt; float &gt;::type points_x</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:269</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_point_cloud_s_o_a_html_af0327b60e9166319365116d757b657a8"><div class="ttname"><a href="classpcl_1_1cuda_1_1_point_cloud_s_o_a.html#af0327b60e9166319365116d757b657a8">pcl::cuda::PointCloudSOA::size</a></div><div class="ttdeci">std::size_t size() const</div><div class="ttdoc">Return the size of the internal vectors</div><div class="ttdef"><b>Definition:</b> point_cloud.h:254</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_covariance_matrix_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_covariance_matrix.html">pcl::cuda::CovarianceMatrix</a></div><div class="ttdoc">misnamed class holding a 3x3 matrix</div><div class="ttdef"><b>Definition:</b> point_cloud.h:51</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_device_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_device.html">pcl::cuda::Device</a></div><div class="ttdoc">Device helper class. Contains several typedefs and some static functions to help writing portable cod...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:95</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_host_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_host.html">pcl::cuda::Host</a></div><div class="ttdoc">Host helper class. Contains several typedefs and some static functions to help writing portable code ...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:66</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_open_n_i_r_g_b_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_open_n_i_r_g_b.html">pcl::cuda::OpenNIRGB</a></div><div class="ttdoc">Simple structure holding RGB data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:57</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_point_iterator_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_point_iterator.html">pcl::cuda::PointIterator</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:311</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_point_x_y_z_r_g_b.html">pcl::cuda::PointXYZRGB</a></div><div class="ttdoc">Default point xyz-rgb structure.</div><div class="ttdef"><b>Definition:</b> point_types.h:50</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_storage_allocator_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_storage_allocator.html">pcl::cuda::StorageAllocator</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:361</div></div>
<div class="ttc" id="astructpcl_1_1cuda_1_1_storage_pointer_html"><div class="ttname"><a href="structpcl_1_1cuda_1_1_storage_pointer.html">pcl::cuda::StoragePointer</a></div><div class="ttdef"><b>Definition:</b> point_cloud.h:329</div></div>
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